Computed torque control is one of the control methods to drive a robot along the desired trajectory as closely as possible. However, this method has been rarely applied to industrial robot. One reason is that the calculation of joint driving torque is complicated and time-consuming. Another significant reason is that the control input based on the dynamical model with rigid links does not well compensate the movement of actual industrial robot which has transmission mechanism of low stiffness.
This paper proposes a modified computed torque control method that can be applied to robots with such transmission mechanism, and a class of desired trajectories to realize this control. This class of desired trajectories is also available for trajectory generation of robot arm.